An updated guide to GNSS, and INS, and solutions to real-world
GNSS/INS problems with Kalman filtering


Written by recognized authorities in the field, this third
edition of a landmark work provides engineers, computer scientists,
and others with a working familiarity of the theory and
contemporary applications of Global Navigation Satellite Systems
(GNSS), Inertial Navigational Systems, and Kalman filters.
Throughout, the focus is on solving real-world problems, with an
emphasis on the effective use of state-of-the-art integration
techniques for those systems, especially the application of Kalman
filtering. To that end, the authors explore the various subtleties,
common failures, and inherent limitations of the theory as it
applies to real-world situations, and provide numerous detailed
application examples and practice problems, including GNSS-aided
INS (tightly and loosely coupled), modeling of gyros and
accelerometers, and SBAS and GBAS.


Drawing upon their many years of experience with GNSS, INS, and
the Kalman filter, the authors present numerous design and
implementation techniques not found in other professional
references. The Third Edition includes:





Updates on the upgrades in existing GNSS and other systems
currently under development

Expanded coverage of basic principles of antenna design and
practical antenna design solutions

Expanded coverage of basic principles of receiver design and an
update of the foundations for code and carrier acquisition and
tracking within a GNSS receiver

Expanded coverage of inertial navigation, its history, its
technology, and the mathematical models and methods used in its
implementation

Derivations of dynamic models for the propagation of inertial
navigation errors, including the effects of drifting sensor
compensation parameters

Greatly expanded coverage of GNSS/INS integration, including
derivation of a unified GNSS/INS integration model, its
MATLAB (R) implementations, and performance evaluation under
simulated dynamic conditions



The companion website includes updated background material;
additional MATLAB scripts for simulating GNSS-only and integrated
GNSS/INS navigation; satellite position determination; calculation
of ionosphere delays; and dilution of precision.